According to Jean, on Tuesday afternoon Maffei jumped over a fence, broke into the house, grabbed the two kids, and ran down the street to his rental car, which was still running. He put the kids inside and sped away.

Police say Maffei then drove to Alameda, where he stole a 40-foot yacht.

San Francisco police, county officials, the FBI, and the Coast Guard tracked Maffei's open sea get away for three days. On Friday, just before 8 p.m., two boats filled with law enforcement and hostage negotiators moved in.

"The suspect expressed that he was remorseful, that he wanted to do anything that he could to assist," South San Francisco Police Sgt. Bruce McPhillips said.

While their father was taken into custody, the children were reunited with their mother, Jennifer Hipon.

"She's exhausted, just exhausted. But she's happy," Jean said.

Jennifer has been estranged from her ex-boyfriend for two years. In fact, the day her children were taken from her home, she was filing for a restraining order against Maffei.